Helicopter transmission shaft coaxiality measurement and adjustment method, device, equipment and medium

Abstract

The application relates to the technical field of intelligent manufacturing, in particular to a helicopter transmission shaft coaxiality measurement and adjustment method, device, equipment and medium, wherein the method comprises the following steps: constructing a virtual working environment of a helicopter tail transmission shaft; configuring a joint driver in the virtual working environment, wherein the joint driver is used for simulating the adjustment of the increase and decrease of shims of the helicopter tail transmission shaft; acquiring measurement data of the helicopter tail transmission shaft in a real working environment, mapping the measurement data to the virtual working environment based on a virtual-real mapping relationship between the virtual working environment and the real working environment; acquiring a pose adjustment mathematical model in the virtual environment, and determining a target adjustment amount of the increase and decrease of shims of the helicopter tail transmission shaft according to the model; and further determining the target adjustment amount in the real scene to adjust the coaxiality of the helicopter tail transmission shaft through the virtual-real mapping relationship. Thus, the problems of low efficiency and the like that exist in the related art, in which the increase and decrease of shims are operated through multiple disassembly and assembly of tooling to reach the required coaxiality, are solved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of intelligent manufacturing, and in particular to a helicopter transmission shaft coaxiality measurement and adjustment method, device, equipment and medium. BACKGROUND

[0002] In the aviation manufacturing industry, the coaxiality adjustment of the helicopter transmission system is one of the key steps to ensure flight safety and performance. The traditional solution uses manual observation of the collimating telescope combined with manual trial-and-error shimming to complete the coaxiality inspection and compensation, which can avoid introducing additional measuring instruments and avoid the shielding problem of the engine firewall and other components, and can fully utilize the visibility of the axis. However, in actual production, multiple pad addition and subtraction operations are usually required to adjust to the target state, which is difficult and time-consuming.

[0003] With the development of digitalization and intelligentization technology, various improvement schemes have been proposed in the industry, such as the related art which uses a sighting mirror with crosshairs and scales to observe the target mirror installed on the power output shaft, manually adjusts the support fixing tool to make the crosshairs in the sighting mirror coincide with the center point mark of the target mirror or meet the corresponding distance requirement, i.e. complete the adjustment. Although this method can solve the coaxiality adjustment problem, it has a large amount of manual assembly and adjustment work, and it is difficult to trace back the problem. SUMMARY

[0004] The present application provides a helicopter transmission shaft coaxiality measurement and adjustment method, device, equipment and medium to solve the problem of low efficiency caused by multiple disassembly and assembly of the tool for pad addition and subtraction operation to achieve the required coaxiality in the related art.

[0005] The first aspect embodiment of the present application provides a helicopter transmission shaft coaxiality measurement and adjustment method, comprising the following steps: constructing a virtual working environment of a helicopter tail transmission shaft; configuring a joint actuator in the virtual working environment, wherein the joint actuator is used to simulate the adjustment of the helicopter tail transmission shaft pad addition and subtraction; obtaining measurement data of the helicopter tail transmission shaft in a real working environment, mapping the measurement data in the real working environment to the virtual working environment based on the virtual-real mapping relationship between the virtual working environment and the real working environment; obtaining a pose adjustment mathematical model in the virtual working environment, determining the target adjustment amount of the helicopter tail transmission shaft pad addition and subtraction according to the pose adjustment mathematical model, and adjusting the helicopter tail transmission shaft coaxiality in the real working environment based on the target adjustment amount and the virtual-real mapping relationship.

[0006] Optionally, before mapping the measurement data in the real working environment to the virtual working environment based on the virtual-real mapping relationship between the virtual working environment and the real working environment, the method comprises: collecting actual position coordinates of the target in the real working environment, wherein the target is a specific position mark on the main reducer and the tail reducer of the tail transmission shaft of the helicopter; obtaining virtual position coordinates of the target in the virtual working environment according to changes in the actual position coordinates of the target in the virtual working environment based on the mathematical model of the adjustment; determining the virtual-real mapping matrix by registering the actual position coordinates and the virtual position coordinates, and determining the virtual-real mapping relationship between the virtual working environment and the real working environment based on the virtual-real mapping matrix.

[0007] Optionally, the mathematical model of the adjustment represents a mathematical relationship between the spacer pad amount and the target motion amount, and the mathematical model of the adjustment is obtained in the virtual working environment, comprising: in the virtual working environment, establishing a first linear variation relationship between the position coordinates of the target in the front and rear collimator image coordinate systems and the degree of freedom variation amount, and a second linear variation relationship between the spacer pad amount and the degree of freedom variation amount; and establishing the mathematical relationship between the spacer pad amount and the target motion amount based on the first linear variation relationship and the second linear variation relationship.

[0008] Optionally, the degree of freedom variation amount is at least one of displacement or angular change generated by lifting motion, pitching motion and rolling motion in the spacer pad process.

[0009] Optionally, the target adjustment amount of the spacer pad of the tail transmission shaft of the helicopter is determined based on the mathematical model of the adjustment, comprising: simulating adjustment of the joint drive based on the mathematical model of the adjustment, and determining a plurality of actual position coordinates of the target in the tail transmission shaft of the helicopter in the virtual working environment based on the adjustment result; calculating deviation values of the plurality of actual position coordinates and the expected position coordinates; and determining the target adjustment amount of the spacer pad of the tail transmission shaft of the helicopter based on the deviation values.

[0010] Optionally, the virtual working environment of the tail transmission shaft of the helicopter is constructed, comprising: constructing a geometric model of the tail transmission shaft of the helicopter; configuring a link coordinate system of the geometric model in the virtual working environment, the link coordinate system comprising: a first camera link coordinate system, a second camera link coordinate system, a tail reduction link coordinate system, and a main reduction link coordinate system, wherein a camera sensor is fixedly connected to the first camera link coordinate system and the second camera link coordinate system, respectively, a first circular target is fixedly connected to the origin of the tail reduction link coordinate system, and a second circular target is fixedly connected to the origin of the main reduction link coordinate system.

[0011] The second aspect embodiment of the application provides a helicopter transmission shaft coaxiality measurement and adjustment device, comprising: a construction module configured to construct a virtual working environment of a helicopter tail transmission shaft; a configuration module configured to configure a joint actuator in the virtual working environment, wherein the joint actuator is configured to simulate adjustment of the helicopter tail transmission shaft with shims; a mapping module configured to obtain measurement data of the helicopter tail transmission shaft in a real working environment, map the measurement data in the real working environment to the virtual working environment based on a virtual-real mapping relationship between the virtual working environment and the real working environment; and an adjustment module configured to obtain a pose adjustment mathematical model in the virtual working environment, determine a target adjustment amount of the shims of the helicopter tail transmission shaft according to the pose adjustment mathematical model, and adjust the coaxiality of the helicopter tail transmission shaft in the real working environment based on the target adjustment amount and the virtual-real mapping relationship.

[0012] Optionally, the helicopter transmission shaft coaxiality measurement and adjustment device further comprises: an acquisition module configured to acquire actual position coordinates of a target in the real working environment before mapping the measurement data in the real working environment to the virtual working environment based on the virtual-real mapping relationship between the virtual working environment and the real working environment, wherein the target is a specific position marker on a main reducer and a tail reducer of the helicopter tail transmission shaft; a simulation module configured to simulate changes in the actual position coordinates of the target in the virtual working environment to obtain virtual position coordinates of the target in the virtual working environment according to the pose adjustment mathematical model; and a determination module configured to determine a virtual-real mapping matrix by registering the actual position coordinates and the virtual position coordinates, and determine the virtual-real mapping relationship between the virtual working environment and the real working environment according to the virtual-real mapping matrix.

[0013] Optionally, the pose adjustment mathematical model represents a mathematical relationship between a shim addition amount of the intermediate reduction support and a target motion amount, and the adjustment module is further configured to, in the virtual working environment, establish a first linear change relationship between the position coordinates of the target in the front and rear collimator image coordinate systems and a degree of freedom change amount, and a second linear change relationship between the shim addition amount of the intermediate reduction support and the degree of freedom change amount; and establish the mathematical relationship between the shim addition amount of the intermediate reduction support and the target motion amount according to the first linear change relationship and the second linear change relationship.

[0014] Optionally, the degree of freedom change amount is at least one of displacement or angular change generated by lifting motion, pitching motion and rolling motion during the shim adjustment process.

[0015] Optionally, the adjustment module is further configured to simulate adjustment of the joint actuator based on the pose adjustment mathematical model, determine a plurality of actual position coordinates of the target in the helicopter tail transmission shaft in the virtual working environment according to the adjustment result, calculate a deviation value of the plurality of actual position coordinates and the expected position coordinates, and determine the target adjustment amount of the shims of the helicopter tail transmission shaft according to the deviation value.

[0016] Optionally, the constructing module is further configured to construct a geometric model of the tail transmission shaft of the helicopter; and configure a link coordinate system of the geometric model in the virtual working environment, the link coordinate system comprising: a first camera link coordinate system, a second camera link coordinate system, a tail reduction link coordinate system, and a main reduction link coordinate system, wherein the camera sensor is fixed to the first camera link coordinate system and the second camera link coordinate system respectively, the first circular target is fixed to the origin of the tail reduction link coordinate system, and the second circular target is fixed to the origin of the main reduction link coordinate system.

[0017] The third aspect of the present application provides an electronic device, comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor executes the program to implement the helicopter transmission shaft coaxiality measurement and adjustment method of the above-mentioned embodiments.

[0018] The fourth aspect of the present application provides a computer readable storage medium having a computer program or instructions stored thereon, and the computer program or instructions are executed to implement the helicopter transmission shaft coaxiality measurement and adjustment method of the above-mentioned embodiments.

[0019] Therefore, the present application has at least the following beneficial effects:

[0020] The embodiments of the present application construct a virtual working environment for adjusting the coaxiality of the tail transmission shaft of the helicopter, configure a joint actuator in the virtual working environment to simulate the adjustment of the increasing and decreasing shims of the tail transmission shaft of the helicopter, so that the adjustment process is more standardized and automated, the consistency and reliability of the assembly are improved, and based on the virtual-real mapping relationship between the virtual working environment and the real working environment, the measurement data in the real working environment is mapped to the virtual working environment, the pose adjustment mathematical model is obtained in the virtual environment, and the target adjustment amount of the increasing and decreasing shims of the tail transmission shaft of the helicopter is determined according to the model, so that the adjustment task can be completed at one time, and simulation calculation, problem backtracking and other operations can be performed in the virtual working environment, which greatly simplifies the actual assembly and adjustment work, avoids the frequent disassembly and assembly of tooling for adding shims in the traditional manual method, reduces the dependence on workers' experience, and greatly reduces the work intensity.

[0021] Additional aspects and advantages of the present application will be in part apparent and in part pointed out hereinafter in the description of the application. BRIEF DESCRIPTION OF DRAWINGS

[0022] The above and / or additional aspects and advantages of the present application will become apparent and be readily appreciated from the following description of embodiments, taken in conjunction with the accompanying drawings, in which:

[0023] Figure 1 A flowchart of a helicopter transmission shaft coaxiality measurement and adjustment method according to an embodiment of the present application is provided.

[0024] Figure 2 A schematic diagram of an intermediate reduction gear support position according to an embodiment of the application;

[0025] Figure 3 An example diagram of linear target transformation under virtual and real fields when adjusting tool elevation according to an embodiment of the application;

[0026] Figure 4 An example diagram of linear target transformation under virtual and real fields when adjusting tool pitch according to an embodiment of the application;

[0027] Figure 5 An example diagram of linear target transformation under virtual and real fields when adjusting tool roll according to an embodiment of the application;

[0028] Figure 6 A schematic diagram of transformation relationship between virtual and real image coordinate systems according to an embodiment of the application;

[0029] Figure 7 A block diagram of a coaxiality measurement and adjustment device for a helicopter transmission shaft according to an embodiment of the application;

[0030] Figure 8 A structural schematic diagram of an electronic device according to an embodiment of the application. DETAILED DESCRIPTION

[0031] Embodiments of the present application are described in detail below with reference to the attached drawing figures, wherein the same or like reference numerals are used throughout the drawing figures to refer to the same or like elements or elements having the same or similar functionality. The embodiments described below are exemplary and are intended to be illustrative of the present application and are not to be understood as limited to the embodiments per se. The following detailed description is not intended to limit the application.

[0032] A helicopter transmission shaft coaxiality measurement and adjustment method, device, electronic equipment and storage medium are described below with reference to the accompanying drawings. In view of the problems mentioned in the background art, the helicopter transmission shaft coaxiality measurement and adjustment method provided by the present application constructs a virtual working environment for adjusting the coaxiality of the helicopter tail transmission shaft. In the virtual working environment, a joint driver is configured to simulate the adjustment of the increasing and decreasing shims of the helicopter tail transmission shaft, so that the adjustment process is more standardized and automated, improving the consistency and reliability of the assembly. Based on the virtual-real mapping relationship between the virtual working environment and the real working environment, the measurement data in the real working environment is mapped to the virtual working environment, the pose adjustment mathematical model is obtained in the virtual environment, and the target adjustment amount of the increasing and decreasing shims of the helicopter tail transmission shaft is determined according to the model. The adjustment task can be completed at one time, and simulation calculation, problem backtracking and other operations can be performed in the virtual working environment, greatly simplifying the actual assembly and adjustment work, avoiding the need for frequent disassembly and assembly of tooling for pad addition in the traditional manual method, reducing the dependence on worker experience, and greatly reducing the work intensity.

[0033] Specifically, Figure 1 A flowchart of a helicopter transmission shaft coaxiality measurement and adjustment method provided by an embodiment of the present application is shown.

[0034] As Figure 1 shown, the helicopter transmission shaft coaxiality measurement and adjustment method includes the following steps:

[0035] In step S101, a virtual working environment for the helicopter tail transmission shaft is constructed.

[0036] It can be understood that the virtual-real fusion technology achieves the operation target of controlling the real with the virtual by establishing the mapping relationship between the target physical quantities in the real scene and the simulation scene, and is commonly used in various scenes that are difficult to complete directly in real work. The helicopter transmission shaft coaxiality adjustment method provided by the present application utilizes advanced virtual-real fusion technology and digital twin concept to achieve precise adjustment of the coaxiality of the helicopter transmission shaft, i.e., the output shaft of the main reducer (main reducer output shaft), the input shaft and output shaft of the intermediate reducer (intermediate reducer input shaft and output shaft), and the input shaft of the tail reducer (tail reducer input shaft) are adjusted to be coaxial, and the included angle between the two shafts is 145°.

[0037] The virtual working environment of the helicopter tail transmission shaft is a key link, can truly reproduce the actual operation process of the coaxial adjustment of the helicopter tail transmission shaft, and provides a basis for all subsequent virtual-real fusion operations. Specifically, the virtual working environment of the helicopter tail transmission shaft, that is, the digital twin model of the coaxial adjustment of the helicopter tail transmission shaft, includes: constructing a geometric model of the helicopter tail transmission shaft; configuring a connecting rod coordinate system of the geometric model in the virtual working environment, the connecting rod coordinate system including: a first camera connecting rod coordinate system, a second camera connecting rod coordinate system, a tail reduction connecting rod coordinate system, and a main reduction connecting rod coordinate system, wherein a camera sensor is fixedly connected to the first camera connecting rod coordinate system and the second camera connecting rod coordinate system, respectively, a first circular target is fixedly connected to the tail reduction connecting rod coordinate system origin, and a second circular target is fixedly connected to the main reduction connecting rod coordinate system origin.

[0038] Specifically, the geometric model of the tail transmission shaft of the fuselage is constructed in a three-dimensional modeling software, that is, the main reducer shaft is extended from the middle top of the fuselage to the digital twin model of the tail beam and the tail diagonal beam, and a prismatic joint is configured for the three intermediate reducer supports through a corresponding plug-in and exported as a URDF file. During the process of increasing and decreasing the gasket, the support can move up and down, pitch and roll along the fixed coordinate system to adjust the relative pose of the reducer. To solve the defect that the STL format model embedded in the URDF file only describes the surface geometry of a three-dimensional object without color and material properties, the model file can also be imported into a Blender rendering engine for material, color and other attribute mapping. The newly generated DAE format model and the corresponding mapping are modified into the URDF file.

[0039] Further, the modified URDF robot format file can be imported into a simulation platform, such as a Gazebo robot simulation engine; the first camera connecting rod coordinate system telescope1_link, the second camera connecting rod coordinate system telescope2_link, the tail reduction connecting rod coordinate system tail_center_link, and the main reduction connecting rod coordinate system head_center_link are further configured in the tail beam assembly model; a 2D camera sensor telescope1 is fixedly connected to the first camera connecting rod coordinate system, a 2D camera sensor telescope2 is fixedly connected to the second camera connecting rod coordinate system, a first circular target is fixedly connected to the tail reduction connecting rod coordinate system origin, and a second circular target is fixedly connected to the main reduction connecting rod coordinate system origin, to complete the static model configuration of the system, so as to simulate the observation conditions in the actual scene.

[0040] In step S102, a joint driver is configured in the virtual working environment, wherein the joint driver is used to simulate the adjustment of the increasing and decreasing gaskets of the helicopter tail transmission shaft.

[0041] It can be understood that the embodiment of the application can configure joint drivers for the twin model to simulate the adjustment effect of increasing or decreasing the gasket, so that the static model has the motion adjustment capability corresponding to the real scene. Specifically, the upper limit of the joint position, the lower limit of the joint position, the upper limit of the force and the upper limit of the speed of the motion joint joint_z, joint_y and joint_x in the tail boom assembly are set in the URDF file respectively, and then the PID controller yaml file is written, the P, I and D parameters are adjusted by simulation parameter adjustment, and it is ensured that the twin can quickly track the step signal without overshoot. Finally, the adjusted controller yaml file is imported into the Gazebo simulation engine and the model is run synchronously.

[0042] In step S103, the measurement data of the tail transmission shaft of the helicopter in the real working environment is obtained, and the measurement data in the real working environment is mapped to the virtual working environment based on the virtual-real mapping relationship between the virtual working environment and the real working environment.

[0043] It can be understood that the embodiment of the application can use high-precision measurement tools (such as collimation telescope, line laser sensor, etc.) to measure the key feature points (such as target center position) of the tail transmission shaft of the helicopter in the real working environment, and map the real measurement results to the virtual environment according to the mapping relationship between the real working environment and the virtual working environment.

[0044] In an embodiment of the application, before the measurement data in the real working environment is mapped to the virtual working environment based on the virtual-real mapping relationship between the virtual working environment and the real working environment, the actual position coordinates of the target in the real working environment are collected, wherein the target is a specific position mark on the main reducer and the tail reducer of the tail transmission shaft of the helicopter; a mathematical relationship between the pad amount of the intermediate support and the target motion amount is obtained, the change of the actual position coordinates of the target in the virtual working environment is simulated to obtain the virtual position coordinates of the target in the virtual working environment according to the mathematical relationship; the actual position coordinates and the virtual position coordinates are registered to determine the virtual-real mapping matrix, and the virtual-real mapping relationship between the virtual working environment and the real working environment is determined according to the virtual-real mapping matrix.

[0045] The embodiment of the present application can use an electronic collimating telescope (equipped with an optical CCD instead of a traditional eyepiece) to obtain images of actual targets on the main reducer and the tail reducer in real time. Wherein, a ring different from the surrounding color is arranged at the target center of the actual targets on the main reducer and the tail reducer and the target model in the twin body. Secondly, the embodiment of the present application can use a Canny edge detection algorithm to perform edge detection on the target center position, and screen and fit the contour, respectively give the recognized target center coordinates and draw an elliptical contour boundary on the human-computer interaction interface. In the actual execution process, the embodiment of the present application can manually select a region of interest (ROI) on the human-computer interaction interface, and the execution algorithm after cropping is only executed in a limited area, thereby improving the efficiency of image processing. The interface displays key binary execution steps, contour extraction information, and draws the processing result and coordinate information in the original image, the coordinate information is displayed in real time, and the related parameters allow manual modification through a drag bar to obtain better processing results.

[0046] Further, the mathematical relationship between the shim amount of the intermediate support and the target motion amount in the attitude adjustment mathematical model is represented, and the attitude adjustment mathematical model is obtained in the virtual working environment, including: in the virtual working environment, a first linear variation relationship between the position coordinates of the target in the front and rear collimator image coordinate system and the degree of freedom variation amount, and a second linear variation relationship between the shim amount of the intermediate support and the degree of freedom variation amount are established; and the mathematical relationship between the shim amount of the intermediate support and the target motion amount is established according to the first linear variation relationship and the second linear variation relationship.

[0047] It can be understood that the collimator in the real working environment and the virtual working environment has three degrees of freedom of lifting, pitching and rolling, and the position coordinates of the target in the image coordinate system and the shim amount of each support shaft of the intermediate reducer have a unique mapping relationship with the degree of freedom variation amount, that is, the mapping relationship between the two can be established through the degree of freedom intermediate amount. Wherein, the degree of freedom variation amount is the displacement or angle change generated by at least one of the lifting motion, the pitching motion and the rolling motion in the process of increasing or decreasing the shim.

[0048] Specifically, the small degree of freedom variation amount and the field of view target displacement amount are simplified as a first linear variation relationship, that is, it can be linearly expressed as U=M·x+d, wherein U is the coordinates of the target in the image coordinate system U=[u v] T , x is the displacement amount corresponding to the three active degrees of freedom of the intermediate tool x=[L p r] T , L is the lifting motion amount, p is the pitching motion angle, r is the rolling motion angle, d is a constant term, and M is the image Jacobi matrix to be determined.

[0049] Secondly, the small degree of freedom variation amount and the shim amount of the intermediate support are simplified as a second linear variation relationship, that is, it can be linearly expressed as s=M e• x, where s is the amount of padding of the three supports s = [s1 s2 s3] T , M e The Jacobi matrix of the mechanical structure, in the case of a small variation of the degrees of freedom, is determined by the position relationship of the three support axes, as shown in Figure 2 , M e , which can be expressed as:

[0050]

[0051] According to the above linear relationship, the overall linear relationship between the image space and the support padding amount can be established as:

[0052] U f = M f • M e -1 s + d f

[0053] U r = M r • M e -1 s + d r

[0054] The embodiments of the present application can also calibrate the transfer matrix Mf and Mr of the front and rear collimating mirrors in the twin body using image processing algorithms. Specifically, the twin body model support height is adjusted so that the front and rear targets are located at the middle position in the image coordinate system as the initial position, and different variation amounts of the middle and rear support axes are adjusted to obtain different sampling data values, including support variation, position coordinates of the front and rear targets, and at least 6 groups of sampling data values are obtained to calculate the optimal solution of the above overall linear relationship equation group, and the image Jacobi matrix Mf and Mr of the front and rear collimating mirrors are calibrated.

[0055] Further, the embodiments of the present application can simulate the actual position coordinates of the target in the virtual working environment according to the mathematical relationship to obtain the virtual position coordinates of the target in the virtual working environment; the actual position coordinates and the virtual position coordinates are registered to determine the virtual-real mapping matrix, and the virtual-real mapping relationship between the virtual working environment and the real working environment is determined according to the virtual-real mapping matrix.

[0056] Specifically, the embodiments of the present application can obtain the required virtual-real mapping relationship in the way of registering the observation data and the twin model parameters, and on the basis of the above embodiments, the embodiments of the present application can obtain the image Jacobi matrix Mf and Mr of the front and rear collimating mirrors of the twin body, determine the mapping relationship in the actual and the twin body through the sampling data, obtain the Jacobi matrix in the actual system through gain amplification and rotation change of the Jacobi matrix of the twin body model, and the transformation relationship is:

[0057] M real = kRM virtual

[0058] wherein, M real is the actual Jacobi matrix, M virtual is the Jacobi matrix in the digital twin scene, k and R are gain coefficient and rotation transformation matrix of two spaces respectively.

[0059] Further, as Figures 3-5 indicated, it is a simple schematic diagram of the linear variation law of the intermediate deceleration target in the tool lifting motion, pitch motion and roll motion. The same type of observation data can be obtained in the virtual environment and the real scene, respectively, for example, when the same lifting operation of a certain scale is performed, the target observation of the virtual camera and the real camera will be different. Then a plurality of groups of observation values can be recorded:

[0060]

[0061] wherein, S i is the actual Jacobi matrix of the real scene and the twin, and the transformation matrix between the image coordinate systems of the two can be obtained by collecting at least 3 groups of data, and then the Jacobi matrix of the actual system can be obtained.

[0062] For a plurality of groups of sampling data values, a plurality of different mapping relationships can be given, and the transformation relationship between the two coordinate systems is shown in Figure 6 , the transformation relationship is mainly the deflection angle of the image coordinate axis and the gain coefficient, the deflection angle is mainly related to the actual collimator installation position, and the gain coefficient is mainly related to the actual collimator resolution and the difference between the camera sensor resolution in the twin. When the sampling calibration data is more than 3 groups, the results of multiple transformation relationships can be obtained, due to the measurement error caused by noise and other factors, there is a certain difference between the calibration results of different groups, in the manual interaction interface, the group with similar deflection angle and gain value is selected, and the transformation matrix R is calculated by using the best fitting method, the best deflection angle θ avg and the gain value K avg are obtained, and the expression is:

[0063]

[0064] In step S104, the adjustment mathematical model is obtained in the virtual working environment, the target adjustment amount of the increase and decrease of the gasket of the tail transmission shaft of the helicopter is determined according to the adjustment mathematical model, and the coaxiality of the tail transmission shaft of the helicopter is adjusted in the real working environment based on the target adjustment amount and the virtual-real mapping relationship.

[0065] In the embodiment of the present application, the adjustment mathematical model represents the mathematical relationship between the gasket increase of the intermediate support and the target motion, and the specific description can be referred to the above embodiment.

[0066] In an embodiment of the present application, the target adjustment amount of the increase or decrease of the shims of the tail transmission shaft of the helicopter is determined according to the mathematical model of the adjustment, comprising: simulating the adjustment of the joint drive based on the mathematical model of the adjustment, determining a plurality of actual position coordinates of the targets in the virtual working environment in the tail transmission shaft of the helicopter according to the adjustment result; calculating the deviation value of the plurality of actual position coordinates and the expected position coordinates; and determining the target adjustment amount of the increase or decrease of the shims of the tail transmission shaft of the helicopter according to the deviation value.

[0067] It can be understood that after the actual sampling data is used for virtual-real registration in the embodiment of the present application, the actual model and the twin model complete mapping through the known transfer matrix, and the position coordinates of the front and rear targets in the image coordinate system of the actual collimator and the virtual twin are determined by using the actual sampling data.

[0068] The near-linear relationship between the shim adjustment amount and the displacement amount in the target image coordinate system established in the above embodiment is arranged as follows:

[0069]

[0070] Where [M f ·M e -1 ] -1 is a pseudo-inverse of the non-square matrix M f ·M e -1 The target of the adjustment calculation is to simultaneously adjust the two targets to the center of the field of view, that is, Where Wf and Wr are the image resolutions of the two collimators respectively. s is the position that minimizes the error of the objects in the image planes to the target point. The shim adjustment amount group value that minimizes the sum of squares of the deviations between the observed values and the expected observed values of the targets calculated by the optimization simulation algorithm is the result of optimization, so that the two targets are finally closest to the position of the target point.

[0071] In the embodiment of the present application, the optimization simulation algorithm gives different shim adjustment values for different fine adjustment angles of the two collimators. The fine adjustment amount can be selected by the actual collimator angle value, and the actual collimator angle can be adjusted by adjusting the installation fine adjustment top pin under the front collimator, so as to keep it within the angle accuracy range, that is, 145°±2′.

[0072] In summary, the embodiment of the present application first establishes a digital twin model of the actual scene, and obtains a pose adjustment mathematical model (expressing the approximate linear relationship between the shim amount and the target motion amount) of the twin model, and then uses the collimation telescope to collect observation data of the target in the real scene, and registers the corresponding parameters obtained by the physical engine in the twin model, to calculate a virtual-real mapping matrix required for virtual-real fusion, to realize virtual-real fusion and virtual control of reality, so that the required shim amount can be accurately calculated before the pose adjustment, and the purpose of improving production efficiency is achieved.

[0073] It should be noted that the method of the embodiment of the present application can optimize the existing coaxiality measurement tooling, realize complete automatic transmission shaft adjustment, and can be used as a technical reference for coaxiality measurement and adjustment of other special large workpieces, and is not limited to helicopter transmission shafts.

[0074] According to the helicopter transmission shaft coaxiality measurement and adjustment method proposed in the embodiment of the present application, a virtual working environment for adjusting the coaxiality of the helicopter tail transmission shaft is constructed, a joint driver is configured in the virtual working environment to simulate the adjustment of the increase and decrease of the shims of the helicopter tail transmission shaft, so that the adjustment process is more standardized and automated, the consistency and reliability of assembly are improved, and based on the virtual-real mapping relationship between the virtual working environment and the real working environment, the measurement data in the real working environment is mapped to the virtual working environment, a pose adjustment mathematical model is obtained in the virtual environment, and the target adjustment amount of the increase and decrease of the shims of the helicopter tail transmission shaft is determined according to the model, so that the adjustment task can be completed at one time, and simulation calculation, problem backtracking and other operations can be performed in the virtual working environment, greatly simplifying the actual assembly and adjustment work, avoiding the need for frequent disassembly and assembly of tooling for shim adjustment in the traditional manual method, weakening the dependence on worker experience, and greatly reducing the work intensity.

[0075] Secondly, the helicopter transmission shaft coaxiality measurement and adjustment device according to the embodiment of the present application is described with reference to the accompanying drawings.

[0076] Figure 7 is a block schematic diagram of the helicopter transmission shaft coaxiality measurement and adjustment device of the embodiment of the present application.

[0077] As shown in Figure 7 , the helicopter transmission shaft coaxiality measurement and adjustment device 10 comprises a construction module 100, a configuration module 200, a mapping module 300 and an adjustment module 400.

[0078] The configuration module 200 is configured to configure a joint driver in the virtual working environment, where the joint driver is used to simulate adjustment of the shims of the tail transmission shaft of the helicopter.

[0079] Optionally, the helicopter transmission shaft coaxiality measurement and adjustment device further comprises: a collection module configured to collect actual position coordinates of the target in the real working environment before mapping the measurement data in the real working environment to the virtual working environment based on the virtual-to-real mapping relationship between the virtual working environment and the real working environment, where the target is a specific position mark on the main reducer and the tail reducer of the tail transmission shaft of the helicopter; an simulation module configured to simulate changes in the actual position coordinates of the target in the virtual working environment to obtain virtual position coordinates of the target in the virtual working environment according to the pose adjustment mathematical model; and a determination module configured to determine a virtual-to-real mapping matrix by matching the actual position coordinates with the virtual position coordinates, and determine the virtual-to-real mapping relationship between the virtual working environment and the real working environment according to the virtual-to-real mapping matrix.

[0080] Optionally, the pose adjustment mathematical model represents a mathematical relationship between the shim addition amount of the intermediate reduction support and the target motion amount, and the adjustment module is further configured to, in the virtual working environment, establish a first linear change relationship between the position coordinates of the target in the front and rear collimator image coordinate systems and the degree of freedom change amount, and a second linear change relationship between the shim addition amount of the intermediate reduction support and the degree of freedom change amount; and establish the mathematical relationship between the shim addition amount of the intermediate reduction support and the target motion amount according to the first linear change relationship and the second linear change relationship.

[0081] Optionally, the degree of freedom change amount is at least one of displacement or angular change generated by lifting motion, pitching motion and rolling motion in the process of adding or reducing the shims.

[0082] Optionally, the adjustment module is further configured to simulate adjustment of the joint driver based on the pose adjustment mathematical model, determine a plurality of actual position coordinates of the target in the tail transmission shaft of the helicopter in the virtual working environment according to the adjustment result; calculate a deviation value of the plurality of actual position coordinates and the expected position coordinates; and determine the target adjustment amount of the shims of the tail transmission shaft of the helicopter according to the deviation value.

[0083] Optionally, the construction module is further configured to construct a geometric model of the tail transmission shaft of the helicopter; and configure the geometric model with a linkage coordinate system in the virtual working environment, the linkage coordinate system comprising: a first camera linkage coordinate system, a second camera linkage coordinate system, a tail reduction linkage coordinate system, and a main reduction linkage coordinate system, wherein the camera sensor is fixedly connected to the first camera linkage coordinate system and the second camera linkage coordinate system respectively, the first circular target is fixedly connected to the origin of the tail reduction linkage coordinate system, and the second circular target is fixedly connected to the origin of the main reduction linkage coordinate system.

[0084] It should be noted that the foregoing explanation and description of the helicopter transmission shaft coaxiality measurement and adjustment method embodiment also applies to the helicopter transmission shaft coaxiality measurement and adjustment device of the embodiment, which will not be described here again.

[0085] The helicopter transmission shaft coaxiality measurement and adjustment device provided by the embodiment of the application constructs a virtual working environment for adjusting the coaxiality of the tail transmission shaft of the helicopter, configures a joint driver in the virtual working environment to simulate the adjustment of the increasing and decreasing shims of the tail transmission shaft of the helicopter, so that the adjustment process is more standardized and automated, the consistency and reliability of assembly are improved, and the measurement data in the real working environment is mapped to the virtual working environment based on the virtual-real mapping relationship between the virtual working environment and the real working environment, the pose adjustment mathematical model is obtained in the virtual environment, and the target adjustment amount of the increasing and decreasing shims of the tail transmission shaft of the helicopter is determined according to the model, so that the adjustment task can be completed at one time, and simulation calculation, problem backtracking and other operations can be performed in the virtual working environment, which greatly simplifies the actual assembly and adjustment work, avoids the frequent disassembly and assembly operations of tooling for adding shims in the traditional manual method, reduces the dependence on the experience of workers, and greatly reduces the work intensity.

[0086] Figure 8 A structural schematic diagram of an electronic device is provided for the embodiment of the application. The electronic device can include:

[0087] The memory 801, the processor 802, and the computer program stored in the memory 801 and executable on the processor 802.

[0088] The processor 802 implements the helicopter transmission shaft coaxiality measurement and adjustment method provided in the above embodiments when executing the program.

[0089] Further, the electronic device further includes:

[0090] The communication interface 803 is configured to communicate between the memory 801 and the processor 802.

[0091] The memory 801 is configured to store the computer program executable on the processor 802.

[0092] The memory 801 can include a high-speed RAM (Random Access Memory) memory, and can also include a nonvolatile memory such as at least one disk memory.

[0093] If the memory 801, the processor 802 and the communication interface 803 are independently implemented, the communication interface 803, the memory 801 and the processor 802 can be connected to each other through a bus and complete communication between each other. The bus can be an ISA (Industry Standard Architecture) bus, a PCI (Peripheral Component Interconnect) bus or an EISA (Extended Industry Standard Architecture) bus, etc. The bus can be divided into an address bus, a data bus, a control bus, etc. For the convenience of representation, Figure 8 In the figure, only one thick line is used to represent the bus, but it does not mean that there is only one bus or only one type of bus.

[0094] Optionally, in a specific implementation, if the memory 801, the processor 802 and the communication interface 803 are integrated on a chip, the memory 801, the processor 802 and the communication interface 803 can complete communication between each other through an internal interface.

[0095] The processor 802 can be a CPU (Central Processing Unit), or an ASIC (Application Specific Integrated Circuit), or one or more integrated circuits configured to implement the embodiments of the present application.

[0096] The embodiments of the present application also provide a computer readable storage medium, which stores a computer program, and the program is executed by a processor to implement the helicopter transmission shaft coaxiality measurement and adjustment method as above.

[0097] In the description of the present specification, the description of the terms "one embodiment", "some embodiments", "an example", "a specific example", or "some examples" and the like means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In the present specification, the illustrative description of the above terms is not necessarily directed to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any appropriate manner in any one or N embodiments or examples. In addition, the person skilled in the art can combine and combine the different embodiments or examples described in the present specification and the features of the different embodiments or examples, without contradiction.

[0098] In addition, the terms "first", "second" are only for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined with "first", "second" can explicitly or implicitly include at least one of the features. In the description of the present application, the meaning of "N" is at least two, for example, two, three, etc., unless otherwise specifically limited.

[0099] Any process or method descriptions in flow charts or described elsewhere herein can be understood as representing one or more steps of a method or process, including a code segment for implementing custom logic functions or processes, and the scope of preferred embodiments of the present application includes additional implementation involving other steps not shown or discussed, including the performance of functions in a different order than shown or discussed, and the performance of functions in substantially simultaneous manner, or in reverse order, as will be understood by those skilled in the art.

[0100] It should be understood that parts of the present application can be implemented in hardware, software, firmware or a combination thereof. In the above-described embodiments, N steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. As in another embodiment, if implemented in hardware, any of the following technologies known in the art or their combination can be used: discrete logic circuit with logic gate circuit for implementing logic functions on data signals, application specific integrated circuit with suitable combination logic gate circuit, programmable gate array, field programmable gate array, etc.

[0101] Those skilled in the art of the present technology can understand that all or part of the steps carried out by the above-mentioned embodiment method can be completed by a program instructing the relevant hardware, and the program can be stored in a computer readable storage medium. The program, when executed, includes one of the steps of the method embodiment or a combination thereof.

[0102] Although the embodiments of the present application have been shown and described above, it is understood that the above-described embodiments are exemplary and are not to be construed as limiting the present application, and that changes, modifications, substitutions and variations can be made by those skilled in the art without departing from the scope of the present application.

Claims

1. A method for measuring and adjusting the coaxiality of a helicopter drive shaft, characterized in that, Includes the following steps: Construct a virtual operating environment for the helicopter tail drive shaft; A joint actuator is configured in the virtual operating environment, wherein the joint actuator is used to simulate the adjustment of the shims of the helicopter tail drive shaft; Acquire measurement data of the helicopter tail drive shaft in a real working environment, and based on the virtual-real mapping relationship between the virtual working environment and the real working environment, map the measurement data in the real working environment to the virtual working environment; In the virtual working environment, an attitude adjustment mathematical model is obtained. Based on the attitude adjustment mathematical model, the target adjustment amount of the shims for adding or removing the helicopter tail drive shaft is determined. Based on the target adjustment amount and the virtual-real mapping relationship, the coaxiality of the helicopter tail drive shaft is adjusted in the real working environment. The attitude adjustment mathematical model represents the mathematical relationship between the amount of shims added to the middle and lower supports and the amount of target movement. Obtaining a posture adjustment mathematical model in the virtual working environment includes: establishing a first linear relationship between the position coordinates and degree of freedom of the target in the front and rear collimating lens image coordinate systems, and a second linear relationship between the amount of padding added to the middle and lower supports and the degree of freedom; and establishing a mathematical relationship between the amount of padding added to the middle and lower supports and the target motion based on the first linear relationship and the second linear relationship.

2. The method for measuring and adjusting the coaxiality of a helicopter drive shaft according to claim 1, characterized in that, Before mapping measurement data from the real work environment to the virtual work environment based on the virtual-real mapping relationship between the virtual work environment and the real work environment, the process includes: The actual position coordinates of the target in the real working environment are collected, wherein the target is a specific position mark on the main reducer and tail reducer of the helicopter tail drive shaft; The virtual position coordinates of the target in the virtual working environment are obtained by simulating the changes in the actual position coordinates of the target in the virtual working environment based on the posture adjustment mathematical model. The actual location coordinates and virtual location coordinates are registered to determine the virtual-real mapping matrix, and the virtual-real mapping relationship between the virtual working environment and the real working environment is determined based on the virtual-real mapping matrix.

3. The method for measuring and adjusting the coaxiality of a helicopter drive shaft according to claim 1, characterized in that, The change in the degree of freedom refers to the displacement or angle change caused by at least one of the lifting, pitching, and rolling movements during the process of adding or removing shims.

4. The method for measuring and adjusting the coaxiality of a helicopter drive shaft according to claim 1, characterized in that, The target adjustment amount of the shims on the helicopter tail drive shaft is determined based on the attitude adjustment mathematical model, including: Based on the attitude adjustment mathematical model, the joint actuator is simulated and adjusted, and the actual position coordinates of the target in the helicopter tail drive shaft are determined according to the adjustment results in the virtual operation environment. Calculate the deviation between the multiple actual position coordinates and the desired position coordinates; The target adjustment amount of the shims for adding or removing shims on the helicopter tail drive shaft is determined based on the deviation value.

5. The method for measuring and adjusting the coaxiality of a helicopter drive shaft according to claim 1, characterized in that, The virtual operating environment for constructing the helicopter tail drive shaft includes: Construct a geometric model of the helicopter tail drive shaft; Configure the geometric model in the linkage coordinate system of the virtual working environment. The linkage coordinate system includes: a first camera linkage coordinate system, a second camera linkage coordinate system, a tail reducer linkage coordinate system, and a main reducer linkage coordinate system. The camera sensor is fixed in the first camera linkage coordinate system and the second camera linkage coordinate system, respectively. A first circular target is fixed at the origin of the tail reducer linkage coordinate system, and a second circular target is fixed at the origin of the main reducer linkage coordinate system.

6. A device for measuring and adjusting the coaxiality of a helicopter drive shaft, characterized in that, include: Build modules are used to construct a virtual operating environment for the helicopter tail drive shaft; A configuration module is used to configure a joint actuator in the virtual operating environment, wherein the joint actuator is used to simulate the adjustment of shims on the helicopter tail drive shaft; The mapping module is used to acquire the measurement data of the helicopter tail drive shaft in a real working environment, and based on the virtual-real mapping relationship between the virtual working environment and the real working environment, map the measurement data in the real working environment to the virtual working environment. An adjustment module is used to acquire an attitude adjustment mathematical model in the virtual working environment, determine the target adjustment amount of the shims for adding or removing the helicopter tail drive shaft according to the attitude adjustment mathematical model, and adjust the coaxiality of the helicopter tail drive shaft in the real working environment based on the target adjustment amount and the virtual-real mapping relationship. The attitude adjustment mathematical model represents the mathematical relationship between the amount of shims added to the middle and lower supports and the amount of target movement. The adjustment module is further configured to: establish a first linear relationship between the position coordinates and degree of freedom of the target in the front and rear collimating lens image coordinate systems in the virtual working environment, and a second linear relationship between the amount of padding added to the middle reduction support and the degree of freedom; and establish a mathematical relationship between the amount of padding added to the middle reduction support and the amount of target motion based on the first linear relationship and the second linear relationship.

7. The helicopter drive shaft coaxiality measuring and adjusting device according to claim 6, characterized in that, Also includes: The acquisition module is used to acquire the actual position coordinates of the target in the real working environment before mapping the measurement data in the real working environment to the virtual working environment based on the virtual-real mapping relationship between the virtual working environment and the real working environment. The target is a specific position mark on the main reducer and tail reducer of the helicopter tail drive shaft. The simulation module is used to simulate the changes in the actual position coordinates of the target in the virtual working environment according to the posture adjustment mathematical model to obtain the virtual position coordinates of the target in the virtual working environment; The determination module is used to register the actual position coordinates with the virtual position coordinates to determine the transformation matrix, and to determine the virtual-real mapping relationship between the virtual working environment and the real working environment based on the transformation matrix.

8. An electronic device, characterized in that, include: A memory, a processor, and a computer program stored in the memory and executable on the processor, the processor executing the program to implement the helicopter drive shaft coaxiality measurement and adjustment method as described in any one of claims 1-5.

9. A computer-readable storage medium having a computer program or instructions stored thereon, characterized in that, When the computer program or instructions are executed, they implement the method for measuring and adjusting the coaxiality of the helicopter drive shaft as described in any one of claims 1-5.

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